High accuracy localization is easily obtained in an exterior context with GPS, but the development of indoor positioning systems remains a challenge. The GPS signals, by nature, cannot penetrate walls thus preventing this technology to provide any service indoor. This paper proposes a practical implementation of an accurate Indoor Positioning System based on Bluetooth Low Energy technology to ensure a low power, efficient and easy to setup infrastructure. It is available on any current Smartphone and requires no extra devices for the user. We use a fusion of the inertial sensors available on the device to output a precise and drift-free estimation of the user displacement, leverage this information with iBeacon radio signals used as anchors to readjust the path if needed and process all these inputs in a Particle Filter. We augmented the Fingerprinting-based likelihood calculation of the particles position’s with a unique simulation of the particle’s theoretical RSSI and also reduced the number of particles to better fit within the bounds of the computational capabilities of mobile devices. The experiment was conducted in a 400 m² open space and yielded positive results as a first attempt in accurate indoor localization and proved to be viable in an indoor context.

使用GPS在外部环境中很容易获得高精度的定位，但是室内定位系统的开发仍然是一个挑战。GPS信号本质上无法穿透墙壁，因此阻止了该技术在室内提供任何服务。本文提出了一种基于蓝牙低功耗技术的精确室内定位系统的实际实现方案，以确保低功耗，高效且易于设置的基础架构。它可以在任何当前的智能手机上使用，并且不需要用户使用其他设备。我们使用设备上可用的惯性传感器的融合来输出用户位移的精确且无漂移的估计，将这些信息与iBeacon无线电信号一起用作锚点，以在需要时重新调整路径，并在粒子中处理所有这些输入过滤。我们通过对粒子的理论RSSI进行了独特的仿真，增加了基于指纹的粒子位置似然计算，并且还减少了粒子的数量，以更好地适应移动设备的计算能力。实验是在400 m^2个开放空间并作为积极的室内定位的首次尝试取得了积极的成果，并证明在室内环境中是可行的。